Underground chamber structure surface extraction and modeling method and device

Abstract

The present application relates to underground chamber structure surface collection technical field, disclose underground chamber structure surface extraction and modeling method and device, including underground chamber structure surface sampling device, including: support receiving assembly, it includes U type structure support, fixedly connected in the rotating drive mechanism of support top, the receiving mechanism is arranged in the bottom of rotating drive mechanism one side and is fixedly connected with support, the pusher mechanism is arranged in the bottom of rotating drive mechanism other side and is fixedly connected with support.The present application adopts combination progressive rotation mode to carry out sampling operation, improves underground chamber structure surface information collection efficiency;Collecting in the process of falling according to the depth of underground chamber, suitable for different depth underground chamber structure surface information collection, convenient for operator to carry out collection operation, constructs three-dimensional underground chamber model with the underground chamber structure surface information collected, facilitates staff to analyze and use the structure inside underground chamber.

Description

Technical Field

[0001] This invention relates to the field of underground chamber structural surface acquisition technology, and in particular to a method and apparatus for extracting and modeling underground chamber structural surfaces. Background Technology

[0002] Underground chambers refer to structures, whether artificially excavated or naturally existing, within underground rock and soil masses for various purposes. They are categorized by use as follows: mine shafts (vertical shafts, inclined shafts, tunnels), transportation tunnels, hydraulic tunnels, underground powerhouses (warehouses), underground military engineering projects, etc. Traditionally, the structural surfaces of underground chambers are inspected using 3D scanners for scanning and modeling. However, this requires operators to place the 3D scanner into the underground chamber. Furthermore, due to the varying depths of underground chambers, traditional methods are inconvenient. When using a hoisting method, the 3D scanner shakes significantly during placement, and it cannot capture information about the entire structural surface of the underground chamber. Therefore, a method and device for extracting and modeling the structural surfaces of underground chambers are proposed. Summary of the Invention

[0003] To address the technical problems of inconvenient operation of traditional 3D scanning methods, severe shaking of the 3D scanner during deployment when using a hoisting method, and inability to collect information on the entire structural surface of underground chambers, this invention provides a method and apparatus for extracting and modeling the structural surface of underground chambers.

[0004] This invention is achieved using the following technical solution: an underground chamber structural surface sampling device, comprising:

[0005] The supporting storage component includes a U-shaped bracket, a rotary drive mechanism fixed to the top of the bracket, a storage mechanism located at the bottom of one side of the rotary drive mechanism and fixed to the bracket, a pushing mechanism located at the bottom of the other side of the rotary drive mechanism and fixed to the bracket, and a winding mechanism located at the bottom of the pushing mechanism and fixed to the bracket.

[0006] The connecting assembly includes a support sleeve, a push plate slidably fitted inside the inner ring of the support sleeve, a drive rod threaded onto the push plate, a support plate movably fitted to one end of the drive rod extending from the bottom of the push plate and fixedly connected to the support sleeve, a guide plate disposed between the support plate and the push plate and fixedly connected to the support sleeve, a baffle disposed at the bottom of the support plate and fixedly connected to the support sleeve, an array of movable rods slidably connected to the bottom of the push plate, a pull rod fixedly connected to one side of the movable rod, a drive shaft fixedly connected to the other end of the pull rod, and an array of rods fixedly connected between the guide plate and the support plate along the axis of the support sleeve. The cloth has an adjustment plate, an adjustment channel that is opened on the adjustment plate and slidably sleeved with the drive shaft, a movable sleeve that is slidably sleeved at one end of the movable rod that extends out of the bottom of the support plate, an abutment ring that is fixed to the top outer ring of the movable sleeve, a snap block that is fixed to the bottom of the movable sleeve, a docking groove that is opened on the inner side wall of the top of the support sleeve, and a limiting groove that is set along its length on both outer side walls of the support sleeve. A rack that is set along its length is fixed to the inner side wall of one limiting groove, and a guide groove that is set along its width is opened on the inner side wall of the other limiting groove.

[0007] The bottom sampling assembly includes a bottom insertion tube and a sampling mechanism located at the bottom of the insertion tube.

[0008] Using the above technical solution, the support is placed on the ground above the opening at the top of the underground chamber. According to the depth of the underground chamber, an appropriate number of connecting components are selected to connect and sample the bottom sampling components. During the connection and sampling, the connecting components are first docked with the bottom sampling components using a rotary drive mechanism. Then, the docked connecting components and bottom sampling components are transported downwards using a conveying unit. After transportation, the connecting components are connected and transported with adjacent connecting components using the above method, thereby gradually extending the bottom sampling components downwards into the underground chamber to collect information on the structural surface of the underground chamber.

[0009] As a further improvement to the above solution, the rotary drive mechanism includes a drive unit three fixedly connected to the bracket, a drive box fixedly connected to the bottom output end of the drive unit three, an active rod movably sleeved at the bottom of the drive box, and a docking sleeve fixedly connected to the bottom of the active rod. A motor one is installed at one end of the active rod that extends into the drive box. The cross-section of the inner circle of the docking sleeve is consistent with the cross-section of the top of the drive rod and both are regular polygonal structures.

[0010] The above technical solution provides power for the docking of the bottom sampling component, the connecting component, and adjacent connecting components, facilitating docking operations.

[0011] As a further improvement to the above solution, the storage mechanism includes a rectangular box fixed to the bracket, an elongated extension channel 1 opened on one side of the box, a drive unit 1 fixed to the outside of the box, a push plate 1 with a T-shaped structure fixed to the output end of the drive unit 1 and extending into the box from the extension channel 1, an extension channel 2 opened in the box extending into the inside of the bracket, an extension tube with a rectangular structure located directly below the extension channel 2 and fixedly sleeved with the bottom of the box, an extension channel 3 opened on the side of the box near the pushing mechanism, a conveying unit located at the top of the extension tube, a sliding plate fixed to the inner wall of the box on the side of the push plate 1 away from the drive unit 1, and the sliding plate slidably sleeved with the guide groove, the conveying unit includes an installation groove with an elongated structure penetrating the box, and a drive gear 1 and a drive gear 2 arranged sequentially from top to bottom inside the installation groove, both drive gear 1 and drive gear 2 are fixedly sleeved with a rotating shaft, and a motor 4 fixedly connected to the box is installed at one end of the rotating shaft.

[0012] The above technical solution allows the connecting components to be stored in the housing, making them easy to move and carry, and also facilitating the installation and disassembly of the connecting components.

[0013] As a further improvement to the above solution, the pushing mechanism includes a second driving unit fixedly connected to the bracket and a second push plate fixedly connected to the output end of the second driving unit.

[0014] As a further improvement to the above solution, the winding mechanism includes a U-shaped connecting frame fixed to the bracket, a rotating shaft movably sleeved on the connecting frame, a winding roller fixedly sleeved on the outer ring of the rotating shaft, and a motor installed at one end of the rotating shaft extending out of the connecting frame.

[0015] As a further improvement to the above solution, extension grooves are provided on both sides of the insertion tube, and a rack is fixed to the inner wall of one of the extension grooves. A docking groove is provided on the inner ring of the top of the insertion tube.

[0016] As a further improvement to the above solution, the sampling mechanism includes a housing that is movably sleeved with the bottom of the insertion tube, a motor three disposed inside the housing, a drive gear fixed to the output end of the motor three, a gear ring meshing with one side of the drive gear and fixedly sleeved with the outer ring of the insertion tube, and a three-dimensional scanner fixed to the outside of the housing.

[0017] The above technical solution enables the 3D scanner to rotate as the insertion tube moves downward, thus achieving rotational sampling.

[0018] As a further improvement to the above solution, the guide plate has guide grooves arranged in an array along its axis, and the structure of the guide plate is consistent with that of the support plate and the baffle.

[0019] The above technical solution guides and limits the movement of the rod.

[0020] As a further improvement to the above solution, the adjustment channel includes a first holding channel arranged along the length of the adjustment plate, a pressing channel inclined at the bottom of the first holding channel, and a second holding channel arranged along the length of the adjustment plate at the bottom of the pressing channel.

[0021] The method for extracting and modeling the underground chamber structural surface sampling device includes the following steps;

[0022] S1 uses a sampling device to collect structural surface information of the underground chamber;

[0023] S2 extracts and classifies the structural surface information of the underground chambers collected;

[0024] S3 extracts the structural surface information of the classified underground chambers and constructs a three-dimensional model of the underground chamber's structural surface.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] 1. This invention uses a combined progressive rotation method for sampling, which changes the inaccurate sampling caused by scanner shaking during traditional hoisting sampling. It uses a surround method to collect information on the overall structural surface of the underground chamber, thereby improving the efficiency of information collection on the structural surface of the underground chamber.

[0027] 2. Simultaneously, data is collected during the descent process according to the depth of the underground chamber, which is suitable for collecting structural surface information of underground chambers at different depths. This facilitates the data collection operation for the operators. The collected structural surface information of the underground chamber is used to construct a three-dimensional underground chamber model, which is convenient for staff to analyze and use the internal structure of the underground chamber. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the sampling device provided by the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the connection component provided by the present invention;

[0030] Figure 3 A schematic diagram of the structure of the support sleeve provided by the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the guide plate provided by the present invention;

[0032] Figure 5 This is a partially enlarged structural schematic diagram provided by the present invention;

[0033] Figure 6 A schematic diagram of the structure of the support and storage component provided by the present invention.

[0034] Explanation of key symbols:

[0035] 1. Support and storage assembly, 2. Connecting assembly, 3. Bottom sampling assembly, 11. Bracket, 12. Rotary drive mechanism, 13. Storage mechanism, 14. Pushing mechanism, 15. Winding mechanism, 21. Support sleeve, 22. Push plate, 23. Guide plate, 24. Support plate, 25. Baffle, 26. Movable rod, 27. Drive rod, 28. Pull rod, 29. Drive shaft, 210. Adjustment plate, 211. Adjustment channel, 212. Movable sleeve, 213. Abutment ring, 214. Snap block, 215. Docking groove, 216. Restriction groove, 217. Guide groove, 218. Rack I, 131. Housing, 132. Extension channel I, 133. Push plate I, 134. Extension channel II, 135. Extension channel III, 136. Extension tube, 137. Drive unit. Detailed Implementation

[0036] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0037] Example 1:

[0038] Please combine Figures 1-5 The underground chamber structural surface sampling device of this embodiment includes:

[0039] The support and storage assembly 1 includes a U-shaped bracket 11, a rotary drive mechanism 12 fixed to the top of the bracket 11, a storage mechanism 13 located at the bottom of one side of the rotary drive mechanism 12 and fixed to the bracket 11, a pushing mechanism 14 located at the bottom of the other side of the rotary drive mechanism 12 and fixed to the bracket 11, and a winding mechanism 15 located at the bottom of the pushing mechanism 14 and fixed to the bracket 12.

[0040] The connecting assembly 2 includes a support sleeve 21, a push plate 22 slidably sleeved on the inner ring of the support sleeve 21, a drive rod 27 threaded onto the push plate 22, a support plate 24 movably sleeved at one end of the drive rod 27 extending out of the bottom of the push plate 22 and fixedly connected to the support sleeve 21, a guide plate 23 disposed between the support plate 24 and the push plate 22 and fixedly connected to the support sleeve 21, a baffle 25 disposed at the bottom of the support plate 24 and fixedly connected to the support sleeve 21, an array of movable rods 26 slidably connected to the bottom of the push plate 22, a pull rod 28 fixedly connected to one side of the movable rod 26, a drive shaft 29 fixedly connected to the other end of the pull rod 28, and an adjustment plate 210 arrayed along the axis of the support sleeve 21 fixedly connected between the guide plate 23 and the support plate 24. The adjustment plate 210 is slidably sleeved with the adjustment channel 211 and the drive shaft 29; the end of the movable rod 26 extending out of the bottom of the support plate 24 is slidably sleeved with the movable sleeve 212; the abutment ring 213 is fixedly connected to the top outer ring of the movable sleeve 212; the snap block 214 is fixedly connected to the bottom of the movable sleeve 212; the docking groove 215 is opened on the inner side wall of the top of the support sleeve 21; the outer side walls of both sides of the support sleeve 21 are provided with limiting grooves 216 arranged along its length direction; the inner side wall of one limiting groove 216 is fixedly connected with a rack 218 arranged along its length direction; the inner side wall of the other limiting groove 216 is provided with a guide groove 217 arranged along its width direction; and the bottom of the movable rod 26 is fixedly connected with a spring fixedly connected to the movable sleeve 212.

[0041] The bottom sampling component 3 includes a bottom insertion tube and a sampling mechanism located at the bottom of the insertion tube.

[0042] The implementation principle of the method and device for extracting and modeling the underground chamber structure surface in this embodiment is as follows: The support 11 is placed on the ground above the top opening of the underground chamber. According to the depth of the underground chamber, the appropriate number of connecting components 2 and the bottom sampling components 3 are selected for connection and sampling. During connection and sampling, the connecting component 2 is first docked with the bottom sampling components 3 using the rotary drive mechanism 12. Then, the docked connecting component 2 and the bottom sampling components 3 are transported downwards using the conveying unit 137. After transportation, the connecting component 2 is connected and transported with the adjacent connecting component 2 in the above manner, so that the bottom sampling components 3 are gradually extended downwards into the underground chamber to collect information on the underground chamber structure surface.

[0043] Example 2:

[0044] Based on Embodiment 1, this embodiment is further improved in that: the rotary drive mechanism 12 includes a drive unit three fixedly connected to the bracket 11, a drive box fixedly connected to the bottom output end of the drive unit three, an active rod movably sleeved at the bottom of the drive box, and a docking sleeve fixedly connected to the bottom of the active rod. A motor one is installed at one end of the active rod that extends into the drive box. The cross-section of the inner circle of the docking sleeve is consistent with the cross-section of the top of the drive rod 27 and both are regular polygonal structures.

[0045] The storage mechanism 13 includes a rectangular box 131 fixedly connected to the bracket 11, an elongated extension channel 132 on one side of the box 131, a drive unit 1 fixedly connected to the outside of the box 131, a T-shaped push plate 133 fixedly connected to the output end of the drive unit 1 and extending into the box 131 from the extension channel 132, an extension channel 134 extending into the inside of the bracket 11 from the box 131, a rectangular extension tube 136 located directly below the extension channel 134 and fixedly sleeved to the bottom of the box 131, and an extension tube 136 located on the box 131 near the bracket 11. The extension channel 135 on the side near the pushing mechanism 14, the conveying unit 137 set at the top of the extension tube 136, and the push plate 133 on the side away from the drive unit 1 are provided with a sliding plate fixed to the inner wall of the box 131, and the sliding plate is slidably sleeved with the guide groove 217. The conveying unit 137 includes a long strip-shaped mounting groove that runs through the box 131. The drive gear 1 and drive gear 2 are arranged in sequence from top to bottom inside the mounting groove. Both drive gear 1 and drive gear 2 are fixedly sleeved with a rotating shaft. One end of the rotating shaft is equipped with a motor 4 fixed to the box 131.

[0046] The feeding mechanism 14 includes a second drive unit fixedly connected to the bracket 11 and a second push plate fixedly connected to the output end of the second drive unit;

[0047] The winding mechanism 15 includes a U-shaped connecting frame fixed to the bracket 11, a rotating shaft movably sleeved on the connecting frame, a winding roller fixedly sleeved on the outer ring of the rotating shaft, and a motor 2 installed at one end of the rotating shaft extending out of the connecting frame.

[0048] Both sides of the insertion tube are provided with extension grooves, one of which has a rack two fixed to its inner sidewall, and the top inner ring of the insertion tube is provided with a docking groove one.

[0049] The sampling mechanism includes a housing that is movably sleeved with the bottom of the insertion tube, a motor three located inside the housing, a drive gear fixed to the output end of the motor three, a gear ring meshing with one side of the drive gear and fixedly sleeved with the outer ring of the insertion tube, and a three-dimensional scanner fixed to the outside of the housing.

[0050] The guide plate 23 has guide grooves 231 arranged in an array along its axis, and the structure of the guide plate 23 is consistent with that of the support plate 24 and the baffle 25.

[0051] The adjustment channel 211 includes a holding channel one arranged along the length of the adjustment plate 210, a pressing channel inclined at the bottom of the holding channel one, and a holding channel two arranged along the length of the adjustment plate 210 at the bottom of the pressing channel.

[0052] Example 3:

[0053] The method for extracting and modeling the underground chamber structural surface sampling device includes the following steps;

[0054] S1 uses a sampling device to collect structural surface information of the underground chamber;

[0055] S2 extracts and classifies the structural surface information of the underground chambers collected;

[0056] S3 extracts the structural surface information of the classified underground chambers and constructs a three-dimensional model of the underground chamber's structural surface.

[0057] Example 4:

[0058] The underground chamber structural surface sampling device also includes a controller loaded with 3D modeling software. Drive unit one adopts a linear module, drive unit two and drive unit three adopt push rod motors, and the controller is connected to the linear module, push rod motor, motor one, motor two, motor three, motor four and 3D scanner.

[0059] Working principle:

[0060] When sampling the structural surface of the underground chamber, the support 11 is first placed on the ground above the top opening of the underground chamber. The appropriate number of connecting components 2 and the bottom sampling components 3 are selected according to the depth of the underground chamber for connection and sampling. During connection and sampling, the connecting component 2 is first docked with the bottom sampling component 3 using the rotary drive mechanism 12. Then, the docked connecting component 2 and the bottom sampling component 3 are transported downwards using the conveying unit 137. After transportation, the connecting component 2 is connected and transported with the adjacent connecting component 2 in the above manner, so that the bottom sampling component 3 is gradually extended downwards into the underground chamber to collect information on the structural surface of the underground chamber.

[0061] During docking, the linear module is activated, pushing the pusher plate 133 towards the pusher mechanism 14. At this time, the guide groove 217 on the support sleeve 21 slides forward with the slide plate on the housing 131, ensuring that the support sleeve 21 remains vertical. Then, the rack 1 on the outside of the support sleeve 21 contacts and meshes with the drive gear 1 on the conveying unit 137. At this time, the initial connecting component 2 is conveyed to the top of the bottom sampling component 3. Then, the support sleeve 21 is located directly above the insertion tube. Then, the drive unit 3 is activated, extending the docking sleeve at the bottom of the drive rod downward from the top of the support sleeve 21. Then, the docking sleeve docks with the drive rod 27. The motor is activated, causing the docking sleeve to rotate. After it is accommodated, the drive rod 27 rotates, and the pusher plate 22 moves downward under the action of the thread. Then, the movable rod 26 moves downward. When the movable rod 26 moves downward, the drive shaft 29 is adjusted in position by the adjustment plate 210. At this time, the movable rod 26 drives the movable sleeve 212 to move downward, and then the snap-fit ​​block 214 at the bottom of the movable sleeve 212 moves downward and extends into the insertion tube until the abutment ring 213 at the top of the movable sleeve 212 abuts against the bottom of the baffle 25. At this time, the snap-fit ​​block 214 moves to the opening of the docking groove at the top of the insertion tube. When the drive shaft 29 moves downward, under the action of the squeezing channel, the drive shaft 29 moves away from the axis of the support sleeve 21. At this time, the movable rod 26 moves downward and moves away from the axis of the support sleeve 21, and then drives the movable sleeve 212 to move, so that the snap-fit ​​block 214 extends into the docking groove at the top of the insertion tube to complete the docking operation.

[0062] When motor four starts, drive gear one and drive gear two rotate, pushing the insertion tube and the initial connection component 2 downwards. Then, the connection and pushing operations are performed in sequence in the above manner.

[0063] During sampling, the motor on the sampling mechanism located at the bottom of the tube starts three times, so that the three-dimensional scanner on the outside of the cover performs a circumferential sampling operation as it moves downward.

[0064] After the 3D scanner finishes sampling, the controller extracts the sampled data and constructs a structural surface model of the underground chamber based on the installed 3D modeling software.

[0065] This design employs a combined progressive rotation method for sampling, overcoming the inaccuracies caused by scanner swaying during traditional hoisting sampling. It uses a surround-scan approach to collect information on the overall structural surface of the underground chamber, improving the efficiency of information acquisition. Simultaneously, it collects data during descent according to the depth of the underground chamber, making it suitable for collecting structural surface information at different depths. This facilitates the data collection process for operators. The collected structural surface information is then used to construct a three-dimensional model of the underground chamber, enabling staff to analyze and utilize the internal structure.

[0066] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A sampling device for the structural surface of an underground chamber, characterized in that, include: The supporting storage component includes a U-shaped bracket, a rotary drive mechanism fixed to the top of the bracket, a storage mechanism located at the bottom of one side of the rotary drive mechanism and fixed to the bracket, a pushing mechanism located at the bottom of the other side of the rotary drive mechanism and fixed to the bracket, and a winding mechanism located at the bottom of the pushing mechanism and fixed to the bracket. The connecting assembly includes a support sleeve, a push plate slidably fitted inside the inner ring of the support sleeve, a drive rod threaded onto the push plate, a support plate movably fitted to one end of the drive rod extending from the bottom of the push plate and fixedly connected to the support sleeve, a guide plate disposed between the support plate and the push plate and fixedly connected to the support sleeve, a baffle disposed at the bottom of the support plate and fixedly connected to the support sleeve, an array of movable rods slidably connected to the bottom of the push plate, a pull rod fixedly connected to one side of the movable rod, a drive shaft fixedly connected to the other end of the pull rod, and an array of rods fixedly connected between the guide plate and the support plate along the axis of the support sleeve. The cloth has an adjustment plate, an adjustment channel that is opened on the adjustment plate and slidably sleeved with the drive shaft, a movable sleeve that is slidably sleeved at one end of the movable rod that extends out of the bottom of the support plate, an abutment ring that is fixed to the top outer ring of the movable sleeve, a snap block that is fixed to the bottom of the movable sleeve, a docking groove that is opened on the inner side wall of the top of the support sleeve, and a limiting groove that is set along its length on both outer side walls of the support sleeve. A rack that is set along its length is fixed to the inner side wall of one limiting groove, and a guide groove that is set along its width is opened on the inner side wall of the other limiting groove. The bottom sampling assembly includes a bottom insertion tube and a sampling mechanism located at the bottom of the insertion tube.

2. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The rotary drive mechanism includes a drive unit three fixedly connected to the bracket, a drive box fixedly connected to the bottom output end of the drive unit three, an active rod movably sleeved at the bottom of the drive box, and a docking sleeve fixedly connected to the bottom of the active rod. A motor one is installed at one end of the active rod that extends into the drive box. The cross-section of the inner circle of the docking sleeve is consistent with the cross-section of the top of the drive rod and both are regular polygonal structures.

3. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The storage mechanism includes a rectangular box fixed to the support, an elongated extension channel 1 on one side of the box, a drive unit 1 fixed to the outside of the box, a push plate 1 with a T-shaped structure fixed to the output end of the drive unit 1 and extending into the box from the extension channel 1, an extension channel 2 extending into the support from the box, an extension tube with a rectangular structure located directly below the extension channel 2 and fixedly sleeved to the bottom of the box, an extension channel 3 located on the side of the box near the pushing mechanism, a conveying unit located at the top of the extension tube, a sliding plate fixed to the inner wall of the box on the side of the push plate 1 away from the drive unit 1, and the sliding plate slidably sleeved with the guide groove, the conveying unit including an elongated mounting groove that runs through the box, and a drive gear 1 and a drive gear 2 arranged sequentially from top to bottom inside the mounting groove, both drive gear 1 and drive gear 2 being fixedly sleeved with a rotating shaft, and a motor 4 fixedly installed at one end of the rotating shaft and fixed to the box.

4. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The pushing mechanism includes a second driving unit fixedly connected to the bracket and a second push plate fixedly connected to the output end of the second driving unit.

5. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The winding mechanism includes a U-shaped connecting frame fixed to the support, a rotating shaft movably sleeved on the connecting frame, a winding roller fixedly sleeved on the outer ring of the rotating shaft, and a motor installed at one end of the rotating shaft extending out of the connecting frame.

6. The underground chamber structural surface sampling device as described in claim 1, characterized in that, Both sides of the insertion tube are provided with extension grooves, one of which has a rack two fixed to its inner sidewall, and the top inner ring of the insertion tube is provided with a docking groove one.

7. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The sampling mechanism includes a housing that is movably sleeved with the bottom of the insertion tube, a motor three located inside the housing, a drive gear fixed to the output end of the motor three, a gear ring meshing with one side of the drive gear and fixedly sleeved with the outer ring of the insertion tube, and a three-dimensional scanner fixed to the outside of the housing.

8. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The guide plate has guide grooves arranged in an array along its axis, and the structure of the guide plate is consistent with that of the support plate and the baffle.

9. The underground chamber structural surface sampling device as described in claim 1, characterized in that, The adjustment channel includes a first holding channel arranged along the length of the adjustment plate, a compression channel inclined at the bottom of the first holding channel, and a second holding channel arranged along the length of the adjustment plate at the bottom of the compression channel.

10. The method for extracting and modeling the underground chamber structural surface sampling device as described in any one of claims 1-9, characterized in that, Includes the following steps; S1 uses a sampling device to collect structural surface information of the underground chamber; S2 extracts and classifies the structural surface information of the underground chambers collected; S3 extracts the structural surface information of the classified underground chambers and constructs a three-dimensional model of the underground chamber's structural surface.

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